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0b70bc23
Commit
0b70bc23
authored
Jun 18, 2015
by
Alessandro Rubini
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wr-servo: simplify calculation of deltas
Signed-off-by:
Alessandro Rubini
<
rubini@gnudd.com
>
parent
42614f0f
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10 deletions
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wr-servo.c
proto-ext-whiterabbit/wr-servo.c
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proto-ext-whiterabbit/wr-servo.c
View file @
0b70bc23
...
...
@@ -148,6 +148,13 @@ void wr_servo_reset(void)
saved_servo_pointer
->
valid
=
0
;
}
static
inline
int32_t
delta_to_ps
(
struct
FixedDelta
d
)
{
UInteger64
*
sps
=
&
d
.
scaledPicoseconds
;
/* ieee type :( */
return
(
sps
->
lsb
>>
16
)
|
(
sps
->
msb
<<
16
);
}
int
wr_servo_init
(
struct
pp_instance
*
ppi
)
{
struct
wr_dsport
*
wrp
=
WR_DSPOR
(
ppi
);
...
...
@@ -167,16 +174,10 @@ int wr_servo_init(struct pp_instance *ppi)
s
->
cur_setpoint
=
0
;
s
->
missed_iters
=
0
;
s
->
delta_tx_m
=
((((
int32_t
)
WR_DSPOR
(
ppi
)
->
otherNodeDeltaTx
.
scaledPicoseconds
.
lsb
)
>>
16
)
&
0xffff
)
|
(((
int32_t
)
WR_DSPOR
(
ppi
)
->
otherNodeDeltaTx
.
scaledPicoseconds
.
msb
)
<<
16
);
s
->
delta_rx_m
=
((((
int32_t
)
WR_DSPOR
(
ppi
)
->
otherNodeDeltaRx
.
scaledPicoseconds
.
lsb
)
>>
16
)
&
0xffff
)
|
(((
int32_t
)
WR_DSPOR
(
ppi
)
->
otherNodeDeltaRx
.
scaledPicoseconds
.
msb
)
<<
16
);
s
->
delta_tx_s
=
((((
int32_t
)
WR_DSPOR
(
ppi
)
->
deltaTx
.
scaledPicoseconds
.
lsb
)
>>
16
)
&
0xffff
)
|
(((
int32_t
)
WR_DSPOR
(
ppi
)
->
deltaTx
.
scaledPicoseconds
.
msb
)
<<
16
);
s
->
delta_rx_s
=
((((
int32_t
)
WR_DSPOR
(
ppi
)
->
deltaRx
.
scaledPicoseconds
.
lsb
)
>>
16
)
&
0xffff
)
|
(((
int32_t
)
WR_DSPOR
(
ppi
)
->
deltaRx
.
scaledPicoseconds
.
msb
)
<<
16
);
/* FIXME: useful?
strncpy(cur_servo_state.sync_source,
clock->netPath.ifaceName, 16);//fixme
*/
s
->
delta_tx_m
=
delta_to_ps
(
wrp
->
otherNodeDeltaTx
);
s
->
delta_rx_m
=
delta_to_ps
(
wrp
->
otherNodeDeltaRx
);
s
->
delta_tx_s
=
delta_to_ps
(
wrp
->
deltaTx
);
s
->
delta_rx_s
=
delta_to_ps
(
wrp
->
deltaRx
);
strcpy
(
s
->
servo_state_name
,
"Uninitialized"
);
...
...
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